CN112666933A

CN112666933A - Intelligent equipment control method, robot and intelligent equipment control system

Info

Publication number: CN112666933A
Application number: CN201910984435.7A
Authority: CN
Inventors: 朱威克; 郭斌; 蒋海青
Original assignee: Hangzhou Ezviz Network Co Ltd
Current assignee: Hangzhou Ezviz Network Co Ltd
Priority date: 2019-10-16
Filing date: 2019-10-16
Publication date: 2021-04-16

Abstract

The embodiment of the invention provides an intelligent device control method, a robot and an intelligent device control system, wherein the method is applied to the robot, the robot comprises a plurality of distance sensors, and the method comprises the following steps: acquiring a working mode of the robot; when the robot is in a cleaning mode, acquiring a first measurement distance between the robot and an obstacle, which is detected by a distance sensor; controlling a travel path of the robot according to the first measured distance so that the distance between the robot and the obstacle is greater than or equal to a preset value; when the robot is in a security mode, determining a point location for deployment and control, and controlling the robot to move to the point location for deployment and control; and acquiring a second measurement distance between the robot and the obstacle, which is obtained by the detection of each distance sensor, and acquiring security information of the point location according to the second measurement distance. The scheme of the embodiment of the invention can solve the problem that the existing robot is easily interfered by other heat source light sources to carry out security and protection distribution control through the infrared human body sensor, and is easy to cause misjudgment.

Description

Intelligent equipment control method, robot and intelligent equipment control system

Technical Field

The embodiment of the invention relates to the technical field of security monitoring, in particular to an intelligent device control method, a robot and an intelligent device control system.

Background

With the improvement of living standard, the robot with the sweeping function is gradually popular among people because of simple operation and convenient use. However, the sweeping robot widely distributed in the market at present has too single function, and the sweeping robot cannot communicate information with equipment at other places. People urgently need a device with information intercommunication, so that the real-time situation in a room can be known through the device, and therefore the security and protection floor sweeping robot is favored by people.

The security protection robot of sweeping floor is a robot of sweeping floor that possesses security protection cloth accuse function, can enough carry out the work of sweeping, also can carry out security protection cloth accuse work. Fig. 1 is a schematic structural diagram of a security and protection floor sweeping robot provided in the prior art, as shown in fig. 1, the security and protection floor sweeping robot includes a rotating shaft 11, a connecting seat 12 and an infrared human body sensor 13, the security and protection floor sweeping robot in the prior art generally realizes security and protection arrangement and control by setting the infrared human body sensor, and the infrared human body sensor 13 is installed on the connecting seat 12 of the rotating shaft 11 of the security and protection floor sweeping robot and can sense infrared rays emitted by a human body. When security and protection control is performed, whether outsiders invade the system is generally judged through the infrared human body sensor 13, and the infrared human body sensor 13 captures infrared rays in all directions through rotation of the rotating shaft 11, so that a security and protection control function is realized.

Because the existing security and protection floor sweeping robot carries out security and protection distribution and control through the infrared human body sensor, the infrared human body sensor is easily interfered by various heat source light sources, and meanwhile, when the ambient temperature and the human body temperature are close to each other, the detection sensitivity of the infrared human body sensor is obviously reduced, the phenomenon of misjudgment is easily caused, and useless alarm is caused.

Disclosure of Invention

The embodiment of the invention provides an intelligent device control method, a robot and an intelligent device control system, and aims to solve the problems that security deployment and control are easily interfered by other heat source light sources, detection sensitivity is reduced, and misjudgment is easily caused in the prior art through an infrared human body sensor.

In a first aspect, an embodiment of the present invention provides an intelligent device control method, which is applied to a robot, where the robot includes a plurality of distance sensors, and the plurality of distance sensors are all located on a body of the robot, and the method includes:

acquiring a working mode of the robot, wherein the working mode comprises a cleaning mode and a security mode;

when the robot is in the cleaning mode, acquiring a first measurement distance between the robot and an obstacle, which is detected by the distance sensor; controlling a travel path of the robot according to the first measured distance so that a distance between the robot and the obstacle is greater than or equal to a preset value;

when the robot is in the security mode, determining a point location for deployment and control, and controlling the robot to move to the point location for deployment and control; acquiring a second measurement distance between the robot and the obstacle, which is detected by each distance sensor; and acquiring security protection information of the point location according to the second measurement distance.

In one possible embodiment, the robot further comprises a vision module, the vision module being located on a body of the robot; the acquiring security protection information of the point location according to the second measurement distance includes:

when a second measurement distance measured by a first distance sensor in a first direction changes, controlling the body of the robot to rotate so that the vision module is opposite to the first direction, wherein the first distance sensor is any one of the distance sensors, and the first direction is the distance measurement direction of the first distance sensor before the body of the robot rotates;

and sending a monitoring instruction to the visual module, so that the visual module acquires the monitoring video corresponding to the first direction according to the monitoring instruction, wherein the security information comprises the monitoring video.

In a possible implementation manner, the robot further includes an alarm module, and after the obtaining of the security information of the point location according to the second measured distance, the method further includes:

and when the second measurement distance changes, sending alarm information to the alarm module so that the alarm module plays the alarm information in a voice mode.

In one possible embodiment, the robot further comprises a gyroscope located on a body of the robot, and when the robot is in the cleaning mode, the method further comprises:

acquiring position information of the gyroscope in a preset time period and a relative position relation between the gyroscope and the distance sensor;

and obtaining map information of a preset area according to the position information of the gyroscope in a preset time period and the relative position relation, wherein the preset area is the moving area of the robot.

In one possible embodiment, the determining the deployment site and controlling the robot to move to the deployment site includes:

determining a position preset by a user as the deployment and control point position;

or,

the method comprises the steps of obtaining the priority of each security position, determining the point distribution and control positions according to the priorities of the plurality of security positions, wherein each security position is located in the moving area of the robot.

In a possible implementation manner, the obtaining the priority of each security position and determining the point location according to the priorities of the plurality of security positions includes:

acquiring position information of a plurality of monitoring devices;

determining the priority of each security position according to the position information of the monitoring devices and the security positions;

and determining the point control location according to the priorities of the plurality of security positions.

In one possible embodiment, the distance sensor comprises a time of flight TOF device, wherein:

the time of flight TOF device is used for emitting distance measuring light rays of an infrared band and receiving reflected light rays of the distance measuring light rays, and obtaining the measuring distance between the robot and an obstacle according to time information of emitting the distance measuring light rays and receiving the reflected light rays.

In one possible embodiment, the distance sensor comprises an infrared laser device and a clock device, wherein:

the infrared laser device is used for emitting distance measuring light rays in an infrared band;

the clock device is used for acquiring a time period from the time when the infrared laser device emits the ranging light to the time when the distance sensor receives the reflected light of the ranging light;

the distance sensor is further used for obtaining the measuring distance between the robot and the obstacle according to the time period and the propagation speed of the ranging light.

In a second aspect, an embodiment of the present invention provides a robot, including a communication module, a processor, a cleaning module, a distance sensor, a vision module, and an alarm module, where:

the communication module is used for receiving a configuration instruction containing working mode information, and the configuration instruction is used for indicating that the robot is in a cleaning mode or a security mode;

the processor is used for acquiring the working mode of the robot according to the configuration instruction;

the cleaning module is used for executing cleaning operation when the robot is in a cleaning mode;

the distance sensor is arranged on the body of the robot and used for detecting a first measurement distance between the robot and an obstacle when the robot is in a cleaning mode, so that the distance between the robot and the obstacle is larger than or equal to a preset value; when the robot is in a security mode and is located at a control point position, detecting a second measurement distance between the robot and an obstacle;

the vision module is used for acquiring a monitoring image corresponding to a first direction when the second measurement distance is changed, wherein the first direction is the direction in which the second measurement distance is changed;

and the alarm module is used for giving an alarm according to alarm information when the second measurement distance changes.

In a third aspect, an embodiment of the present invention provides an intelligent device control system, including a terminal and a robot, where a plurality of distance sensors are arranged on a body of the robot, where:

the terminal is used for sending a configuration instruction to the robot;

the robot is used for receiving the configuration instruction sent by the terminal and executing the following steps according to the configuration instruction:

acquiring a current working mode, wherein the working mode comprises a cleaning mode and a security mode;

In a fourth aspect, an embodiment of the present invention provides an intelligent device control device, including: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executes computer-executable instructions stored by the memory to cause the at least one processor to perform the smart device control method of any of the first aspects.

In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer executing instruction is stored in the computer-readable storage medium, and when a processor executes the computer executing instruction, the method for controlling an intelligent device according to any one of the first aspects is implemented.

The method is applied to a robot, wherein the robot comprises a plurality of distance sensors and can emit ranging light rays, a working mode of the robot is firstly obtained, when the robot is in a cleaning mode, a first measured distance between the robot and an obstacle, which is obtained by detection of the distance sensors, is obtained, and a running path of the robot is controlled according to the first measured distance, so that the distance between the robot and the obstacle is larger than or equal to a preset value. When the robot is in a security mode, firstly, the point location of the control is determined, the robot is controlled to move to the point location of the control, then, a second measurement distance between the robot and the obstacle, which is obtained by detection of each distance sensor, is obtained, and finally, security information of the point location of the control is obtained according to the second measurement distance. According to the scheme provided by the embodiment of the invention, the distance measuring light is emitted by the distance sensor, and the distance between the robot and the obstacle is measured by the reflected light of the distance measuring light.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a security and protection sweeping robot provided in the prior art;

fig. 2 is a schematic view of an application scenario of the intelligent device control method according to the embodiment of the present invention;

fig. 3a is a first schematic structural diagram of a robot according to an embodiment of the present invention;

fig. 3b is a schematic structural diagram of a robot according to an embodiment of the present invention;

fig. 3c is a schematic structural diagram of a robot according to an embodiment of the present invention;

fig. 4 is a schematic flowchart of a control method for an intelligent device according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an intelligent home system provided in an embodiment of the present invention;

fig. 6 is a schematic diagram of a distance sensor acquiring a measured distance between a robot and an obstacle according to an embodiment of the present invention;

fig. 7 is a schematic diagram illustrating obtaining map information of a preset area according to an embodiment of the present invention;

fig. 8 is a schematic flowchart of a process of acquiring security information of a point location under deployment and control according to an embodiment of the present invention;

fig. 9 is a schematic diagram illustrating a user presetting a deployment point location according to an embodiment of the present invention;

fig. 10 is a first schematic diagram illustrating setting of a point location according to the priority of a security location according to an embodiment of the present invention;

fig. 11 is a second schematic diagram illustrating setting of a point location according to the priority of a security location according to the embodiment of the present invention;

fig. 12 is a schematic structural diagram of a robot according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of an intelligent device control system according to an embodiment of the present invention;

fig. 14 is a schematic diagram of a hardware structure of an intelligent device control device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 2 is a schematic view of an application scenario of the intelligent device control method according to the embodiment of the present invention, as shown in fig. 2, the method includes a robot 21 and a terminal 22, and the robot 21 and the terminal 22 are connected through a wireless network. The robot 21 includes a plurality of working modes, including at least a cleaning mode and a security mode, when the robot 21 is in the cleaning mode, the robot 21 cleans the ground in the area, and when the robot 21 is in the security mode, the robot 21 performs security control. The user may control the robot 21 through the terminal 22, wherein the user may determine the operation mode of the robot 21 through the terminal 22 and perform different operations when the robot 21 is in different operation modes.

Meanwhile, the terminal 22 may also obtain a real-time state of the robot 21, including a position and a work process of the robot 21, obtain security information when the robot 21 is in a security mode, and display the obtained information. The terminal 22 and the robot 21 may be directly connected through a wireless network, or the robot 21 and the terminal 22 may be connected through a background server.

The technical solution of the present invention and how to solve the above technical problems will be described in detail with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.

The structure of the robot in the present application will be described first. Fig. 3a is a schematic structural diagram of a robot according to an embodiment of the present invention, as shown in fig. 3a, including a body 31, a distance sensor 32, a switch 33, and a vision module 34. Fig. 3a is a top view of the robot, wherein the top cross-sectional view of the robot is substantially a circle for easy movement on the ground, it being understood that the shape of the robot in fig. 3a is merely an example and the actual configuration is not limited thereto. Fig. 3b is a second schematic structural diagram of a robot provided by an embodiment of the present invention, fig. 3c is a third schematic structural diagram of a robot provided by an embodiment of the present invention, and fig. 3a,

Fig. 3b and 3c are schematic structural diagrams of the robot respectively viewed from different angles, and it can be seen from the diagrams that the distance sensor 32 is mounted on the body of the robot, and may be mounted one or more for measuring the distance between the distance sensor and the obstacle. Typically, the distance sensor 32 is mounted at the edge of the body of the robot, for example, when the cross-section of the body is approximately a circle, the distance sensor 32 is mounted at the edge of the circle, and when the robot is lying on the ground, as shown in fig. 3a, the distance sensor 32 is able to measure the distance to an obstacle.

In fig. 3a, three distance sensors are installed, two of which are installed at both sides of the side of the body, the two distance sensors are equally spaced from the vision module 34, and the other distance sensor is installed at the vision module 34. The vision module 34 can be used for monitoring and recording video, and when the robot is in a security mode and detects the intrusion of a person, the video can be recorded through the vision module 34. The robot also comprises a main control chip, and the terminal can control the robot by sending instructions to the main control chip. It is understood that the number and the positions of the distance sensors in fig. 3a are only examples, and the number and the positions of the distance sensors are not limited herein.

Fig. 4 is a schematic flowchart of a control method for an intelligent device according to an embodiment of the present invention, which is applied to a robot, where the robot includes a plurality of distance sensors, and the plurality of distance sensors are all located on a body of the robot, as shown in fig. 4, the method includes:

and 41, acquiring the working mode of the robot, wherein the working mode comprises a cleaning mode and a security mode.

The user can send an instruction to the robot through the terminal to determine the working mode of the robot, can directly send the instruction to the robot through a button arranged on the robot body to determine the working mode of the robot, can send the instruction to the robot through the background server to determine the working mode of the robot, and the like. The working modes of the robot at least comprise a cleaning mode and a security mode, and a user can determine the working mode of the robot as the cleaning mode or the security mode by sending an instruction, and also can determine that the robot is in the cleaning mode at a certain time period and in the security mode at another time period by sending an instruction, and the like.

Step 42, when the robot is in the cleaning mode, acquiring a first measurement distance between the robot and an obstacle, which is detected by the distance transmitter; and controlling a driving path of the robot according to the first measured distance so that the distance between the robot and the obstacle is greater than or equal to a preset value.

When the robot is in cleaning mode, the main task of the robot is to clean a certain area. As can be seen from fig. 1 and 3a, compared with the existing security and protection floor sweeping robot, the robot in the present application has the main difference that a rotating shaft is arranged above the existing security and protection floor sweeping robot, and an infrared human body sensor is arranged on the rotating shaft. Due to the existence of the rotating shaft, the existing security and protection floor sweeping robot is higher in height, the trafficability of the robot in a home environment is remarkably reduced, and the robot is not easy to pass through areas such as a bed bottom and a sofa bottom. Meanwhile, the infrared human body sensor is easily interfered by other heat sources, and the sensing is insufficient. And in this application, distance sensor all installs in the fuselage side of robot, and the height of robot is lower, easily through some specific areas, cleans more thoroughly, and distance sensor in this application simultaneously carries out the range finding through initiative transmission range finding light, and is different through the mode of response infrared ray with prior art, can improve the validity of response.

When the robot is in the mode of cleaning, each distance sensor can outwards launch range finding light, and the direction of range finding light is certain. The distance measuring light rays can be reflected after encountering the obstacle, and the distance measuring distance between the distance sensor and the obstacle can be obtained after the distance measuring light rays receive the reflected light rays. It should be noted that, in the embodiment of the present invention, in the process of transmitting the distance measuring light by the distance sensor and then receiving the reflected light of the distance measuring light, the distance measuring light is not required to be perpendicular to the obstacle, and the obstacle performs diffuse reflection, so that the distance sensor can receive the reflected light reflected by the obstacle at each angle.

Because the direction of the range finding light that every distance sensor launches is different, therefore the barrier that every distance sensor corresponds is probably different, and in this application, the distance of every distance sensor and barrier all is greater than or equal to the default. It can be understood that, if the first measured distance between the robot and the obstacle is the first measured distance between the corresponding distance sensor and the obstacle, the preset value may be directly set, and if the first measured distance is the first measured distance between the center of the robot body and the obstacle, the preset value needs to be set in consideration of the size of the robot.

The travel path of the robot is controlled by the first measured distance, for example, the robot may be controlled to sweep a circle along the edge of the wall and then sweep other areas. The preset value may be a fixed value, and may be specified by a user in advance, and may be set to 5cm, for example. When the robot cleans, the distance between the robot and the wall or other obstacles is always more than or equal to 5 cm. The setting can enable the robot to smoothly complete the edge cleaning, and avoid the problem that the robot collides with an obstacle during cleaning.

Step 43, when the robot is in the security mode, determining a point location of deployment and control, and controlling the robot to move to the point location of deployment and control; acquiring a second measurement distance between the robot and the obstacle, which is detected by each distance sensor; and acquiring security protection information of the point location according to the second measurement distance.

When the robot is in a security mode, the point location of deployment and control needs to be determined firstly, the point location of deployment and control can be designated by a user, and one position can be selected by the robot at will. After the arrangement point location is determined, the robot can move to the arrangement point location, and at the moment, each distance sensor can emit ranging light. When the surrounding environment is fixed and the robot remains stationary at the deployment site, the second measured distance of the robot from the obstacle measured by each distance sensor should be fixed. Therefore, when the second measured distance measured by each distance sensor is constant, it can be considered that there is no intrusion of an outsider. If the second measurement distance measured by a certain distance sensor changes, it is highly likely that a person invades, and the distance measurement light of the distance sensor is shielded when the person passes by the vicinity of the robot, so that the second measurement distance measured by the distance sensor changes. Therefore, the security information of the point location can be obtained according to whether the second measurement distance changes or not.

The intelligent equipment control method provided by the embodiment of the invention is applied to a robot, wherein the robot comprises a plurality of distance sensors and can emit ranging light, the working mode of the robot is firstly obtained, when the robot is in a cleaning mode, a first measured distance between the robot and an obstacle, which is obtained by the detection of the distance sensors, is obtained, and the running path of the robot is controlled according to the first measured distance, so that the distance between the robot and the obstacle is larger than or equal to a preset value. When the robot is in a security mode, firstly, the point location of the control is determined, the robot is controlled to move to the point location of the control, then, a second measurement distance between the robot and the obstacle, which is obtained by detection of each distance sensor, is obtained, and finally, security information of the point location of the control is obtained according to the second measurement distance. According to the scheme provided by the embodiment of the invention, the distance measuring light is emitted by the light source device in the distance sensor, and the distance between the robot and the obstacle is measured by the reflected light of the distance measuring light.

Fig. 5 is a schematic structural diagram of an intelligent home system according to an embodiment of the present invention, as shown in fig. 5, the intelligent home system includes a robot 51, a user terminal 52, and a background server 53, and further, the intelligent home system may further include a display 54 and a plurality of monitoring devices 55, where the robot 51 and the plurality of monitoring devices 55 may be registered on the background server 53, and after being registered, the same intelligent home system belongs to the same intelligent home system. The user terminal 52 is connected with the background server 53 through a wireless network, and the display 54 is connected with the background server 53 through a wired or wireless network. Through the background server 53, the user terminal 52 may send an instruction to control the robot 51, the display 54 acquires and displays a corresponding monitoring image when the robot 51 performs security alarm, and meanwhile, the user terminal 52 may also acquire and display the monitoring image for the user to view.

When the robot 51 is in the cleaning mode, the travel path of the robot 51 is controlled based on a first measured distance between the robot 51 and the obstacle detected by a distance sensor provided in various ways.

One possible implementation is that the distance sensor is a Time of flight (TOF) device. The TOF device is a device that performs distance measurement using the TOF principle, that is, calculates a distance by the time of flight of light. Specifically, the TOF device may include a transmitter and a receiver, the transmitter transmits a ranging light in an infrared band, the receiver receives a reflected light after the ranging light is reflected by an obstacle, and calculates a distance to the obstacle according to a round trip time of the light. Due to the fact that the light speed is high, the TOF device has extremely high requirements on waiting time measurement, but the TOF device is accurate in distance measurement.

Another possible implementation manner is that the distance sensor includes an infrared laser device and a clock device, where the infrared laser device is configured to emit a distance measurement light in an infrared band, the clock device is configured to obtain a time period from when the infrared laser device emits the distance measurement light to when the distance sensor receives a reflected light of the distance measurement light, and the distance sensor is further configured to obtain a measurement distance between the robot and the obstacle according to the time period and a propagation speed of the distance measurement light.

The range finding light may be emitted in various forms, including visible light, near infrared light, or other light bands, among others. In the embodiment of the invention, the distance measuring light ray of the infrared band is adopted, compared with the distance measuring light ray of the visible light band, the interference is less, and meanwhile, the distance measuring light ray of the infrared band cannot be observed by naked eyes, so that the distance measuring light ray is more concealed, and the subsequent security and protection arrangement and control are facilitated.

Fig. 6 is a schematic diagram of a distance sensor for acquiring a measured distance between a robot and an obstacle according to an embodiment of the present invention, as shown in fig. 6, the distance sensor 61 and a wall 62 are included, a distance measuring light is emitted from the distance sensor 61, a time t1 of the emitted distance measuring light is recorded, and a reflected light of the distance measuring light reflected by the wall 62 is sensed by the distance sensor 61, and a time t2 of the time is recorded. Then the distance sensor obtains the measuring distance between the robot and the obstacle according to the time period from the distance measuring light ray emission to the distance measuring light ray reception and the propagation speed of the distance measuring light ray, and the specific calculation mode is as follows:

where S is the measured distance from the distance sensor 61 to the wall 62, v is the propagation velocity of the ranging light, where the propagation velocity of the light is a fixed value, t is a time period, and t is t2-t 1.

In order to obtain the measurement distance between the robot and the obstacle, the measurement distance from the distance sensor 61 to the wall 62 may be added to the size (radius) of the robot 61, with the center position of the robot as the position where the robot is located.

When the robot is in the cleaning mode, the position information of the distance sensors within the preset time period can be obtained by sending an instruction to the robot, and then the map information of a preset area is obtained according to the position information, wherein the preset area is the moving area of the robot. Fig. 7 is a schematic diagram of acquiring map information of a preset area according to an embodiment of the present invention, as shown in fig. 7, the map information includes a robot 70 and a house 71, the robot 70 includes an a distance sensor 701, a B distance sensor 702, and a C distance sensor 703, and each room of the house 71 is an activity area of the robot 70, that is, the preset area. The robot 70 further includes a gyroscope 704, and the gyroscope 704 may be mounted at any position on the robot 70 and can acquire a relative positional relationship between the gyroscope 704 and each distance sensor.

The robot 70 may be controlled to move along the wall of the house 71 so that one of the distance sensors is at a fixed value or a range from the wall, for example, the a distance sensor 701 may be directed to the wall and the distance from the a distance sensor 701 to the wall may be maintained at 3 cm.

Then, the gyroscope 704 reports its own position information in real time, and since the relative position relationship between the gyroscope 704 and the a distance sensor 701 is fixed and the distance between the a distance sensor 701 and the wall is also fixed, the position of the a distance sensor 701 can be obtained from the position of the gyroscope 704 and the relative position relationship between the gyroscope and the a distance sensor 701, so that the distribution of the wall can be roughly known, and the two-dimensional map information of the house 71 can be obtained from the position of the a distance sensor 701.

The above-described manner is to obtain the distribution of the wall with the a-distance sensor 701 facing the wall, and thus when the wall has a turn, it is necessary to rotate the body of the robot 70 to constantly keep the a-distance sensor 701 facing the wall. Another possible implementation is that when the wall has a turn, another distance sensor is selected to be opposite to the wall, and the robot 70 does not need to rotate or the rotation amplitude is small, for example, after the wall has a turn, the B distance sensor 702 is selected to be opposite to the wall, and then the position information of the gyroscope 704 and the relative position relationship between the gyroscope 704 and the B distance sensor 702 need to be obtained in real time to obtain the position information of the B distance sensor 702.

After the position information of the plurality of distance sensors in the preset time period is obtained and uploaded to the background server, the background server can roughly obtain map information of the house 71 according to the position information and send the map information to the user terminal for the user to check, and meanwhile, the user can further edit the two-dimensional map through the user terminal.

When the robot is in a security mode, firstly, a control point position needs to be determined, and the robot moves to the control point position to perform security control. And then, a second measurement distance between the robot and the obstacle, which is obtained by the detection of each distance sensor, is obtained, and security information of the point location is obtained according to the second measurement distance. Fig. 8 is a schematic flow chart of acquiring security information of a point location under deployment and control according to an embodiment of the present invention, and as shown in fig. 8, the flow chart includes:

and 81, aiming at each distance sensor, acquiring a second measurement distance between the corresponding robot and the obstacle according to a preset interval and the distance measurement light emitted by the distance sensor, wherein the obstacle corresponding to the distance sensor is the obstacle which receives the distance measurement light emitted by the distance sensor.

And 82, acquiring security information of the point location according to the second measurement distance.

The robot comprises a robot body, and is characterized in that the side face of the robot body further comprises a vision module, specifically, when a second measurement distance obtained by measuring the first distance sensor in the first direction changes, the robot body of the robot is controlled to rotate, so that the vision module is over against the first direction, wherein the first distance sensor is any one of a plurality of distance sensors, and before the first direction is the rotation of the robot body, the distance measurement light rays emitted by the first distance sensor are in the direction.

And sending a monitoring instruction to the vision module, so that the vision module acquires a monitoring image corresponding to the first direction according to the monitoring instruction, wherein the security information comprises the monitoring image. After the monitoring image is obtained, the monitoring image can be uploaded to a background server for storage, and the user terminal can check the monitoring image at any time according to actual needs. Further, the robot may further include an alarm module, when the second measured distance changes, the alarm module sends alarm information to the alarm module, and the alarm module gives an alarm after receiving the alarm information, where the alarm mode includes, but is not limited to, a voice alarm, an audible and visual alarm, or other possible combination modes, so as to further frighten the external intruder. The alarm information can also be sent to the user terminal through the background server, so that the user terminal can know the security and protection control condition in time.

The arrangement point location comprises the position of the robot and the orientation of the robot body, the selection of the arrangement point location needs to be comprehensively designed according to the orientation of a distance sensor on the robot body, the effective distance of the distance sensor and the area needing arrangement, wherein the determination of the arrangement point location has multiple modes and is introduced below respectively.

One possible embodiment is that the deployment site is preset by the user via the user terminal. Fig. 9 is a schematic diagram of user preset configuration point locations provided by an embodiment of the present invention, as shown in fig. 9, the configuration point locations include a preset area 91, a robot 92, and a preset configuration point location 93, where the preset area 91 is an area where the robot 92 can move, and the preset area 91 in fig. 9 is a schematic two-dimensional house diagram including a plurality of rooms. Three distance sensors A, B and C are provided on the robot 92.

Because the user terminal can obtain the map information of the preset area 91 through the background server, when the map information is displayed at the user terminal, the user can designate the deployment and control point location according to actual needs. For example, the user may consider the living room as an area requiring major defense, and therefore may set the control point location 93 in the living room, and at the same time, may set the body orientation of the robot 92, in fig. 9, the body is oriented to the left, at which time the distance measuring light emitted by the distance sensor a is oriented downward, the distance measuring light emitted by the distance sensor B is oriented to the left, the distance measuring light emitted by the distance sensor C is oriented upward, and the right side of the body is close to the wall, and there is no distance sensor. Meanwhile, the distance from each sensor to the corresponding wall surface is within the effective distance from the sensor.

After the active defense mode, if the robot 92 finishes the cleaning task and the power of the robot 92 is insufficient, the recharging can be performed first, and the recharging position can be set in advance. After the refilling is completed, the robot 92 goes to a preset deployment and control point position 93 by itself, and the angle of the robot body is adjusted. And entering a security mode (other devices are dormant, and the distance sensor and a main control chip for receiving and processing the distance sensor keep working states). In fig. 9, only one deployment point location 93 is set, and it can be understood that a user may set more than one deployment point location according to actual needs, and at the same time, the time and duration of the robot at each deployment point location may be set.

As shown in fig. 9, after the robot 92 is armed, if a suspicious person enters the room and passes through the ranging light of the robot 92 in the direction of the arrow, the measured distance measured by the distance sensor will change significantly. And the main control chip returns to the working state and triggers an alarm when monitoring the change of the measured distance. Which ranging light triggered the alarm, the robot 92 turned the direction to make the vision module face this ranging light, looked over the scene condition, and carried out the video recording, the video recording local storage, also can upload cloud storage and use as the evidence. Meanwhile, the robot 92 may use an alarm module such as a horn provided therein for voice warning and alarm.

Meanwhile, at the user terminal, the user can receive the alarm information sent by the robot 92, view the real-time video, or view the video afterwards, and can deal with the accident at the first time. When setting up the security protection mode, can carry out the linkage setting according to other intelligent household equipment condition in the family, if for example there is the equipment that can interconnect and intercommunicate with robot 92, like rotatable camera, robot 92 sends and reports an emergency and asks for help or increased vigilance the back, can rotate the position that camera to robot laid a defence, carries out extra video and works of collecting evidence, also can link audible-visual-electric alarm for the warning effect is strengthened, plays better deterrent effect. Specifically, in the preset area 91, a plurality of monitoring devices, such as cameras, may be further disposed. When a certain distance measuring light triggers the alarm, the alarm can be reported to the background server, the background server checks whether a camera can shoot the distance measuring light which triggers the alarm, if so, the background server transfers the camera to further record the video of the area which triggers the alarm, thereby obtaining more detailed video of the triggered alarm and being convenient for subsequent processing.

Another possible implementation manner is that the priority of each security position is obtained, and the point distribution and control position is determined according to the priorities of a plurality of security positions, wherein each security position is located in the activity area of the robot.

The determination of the priority is related to a plurality of factors including the installation condition and the installation location of the monitoring apparatus, the time period, and the degree of importance of each area, and the like. For example, if a camera is installed in a certain room, security arrangement is already performed in the room, and at this time, the priority level of the security position in the room may be set to a lower priority level, and other rooms may be controlled in a wired manner. For example, the priority of the security location may be lowered for a time period during the day when the user is at home, the priority of the security location may be raised for a time period when the user is not at home, and so on.

Specifically, a plurality of monitoring devices are arranged in a preset area, position information of the plurality of monitoring devices is firstly obtained, the priority of each security position is determined according to the position information and the security position of the plurality of monitoring devices, and finally, the point location is determined according to the priority of the plurality of security positions. The security position is a part of the preset area, the preset area can be divided into a plurality of parts, for example, when the preset area is a house, each room can be set as a security position, the background server can obtain position information of a plurality of monitoring devices, if a monitoring device is arranged in one room, it is indicated that the room has corresponding security control, the priority of the security position corresponding to the room is low, at this time, the control point position can be preferentially set in a room which is not covered by the monitoring devices, and the like.

Fig. 10 is a schematic view of setting a point location to be controlled according to priority of a security location according to an embodiment of the present invention, as shown in fig. 10, after a robot establishes a map, a user further edits the map through a terminal, marks positions corresponding to other smart home devices in a home on the map, and if a camera head of a certain area has a visual security device, marks the area as a high-security area, such as a restaurant, a living room, and a hallway in fig. 10; if a certain area is provided with safety protection equipment but is not provided with visual safety protection equipment (such as an infrared detector, an infrared curtain) and the like, the area is an area in safety, such as a room at the upper left corner in fig. 10; if there are no security class devices or sensors, the area is an area with low security, such as the upper right and lower left rooms in fig. 10. By this operation, the security priorities can be ordered for the regions.

Fig. 11 is a schematic diagram two of setting a point location according to the priority of a security location according to an embodiment of the present invention, as shown in fig. 11, a user may designate a point location in a map for a certain area (generally, an area with low security), and set the priority of the point location to be low: setting the security point location priority level according to the high or low security, such as the area with low security, and setting the security point location priority level according to the high or low security; the defense site placement priority level can also be set according to the nature of the region (for example, the defense site placement priority level of the region where a large number of properties are placed is high).

At a user terminal, a user can design an away mode, a home mode and a rest mode, and when the user is in the home mode, the robot does not need to execute a security and protection control function.

The user goes out, selects the mode of leaving home, waits until the robot accomplishes normal task of cleaning, if the electric quantity is not enough, then carries out earlier and recharges, in case the electric quantity reaches the standard that can work, then goes to the cloth accuse position and carries out the cloth and defend. If a plurality of control point positions exist, switching can be performed among the plurality of control point positions according to the priority levels of the control point positions and the residual electric quantity of the robot, and each point position is allocated with different durations, for example, the point positions with high priority levels can be used: middle priority point location: the low priority point is the allocation manner of 6:3:1, and the specific allocation manner may be set according to actual needs, and is not particularly limited herein.

The user gets into the rest mode, then can let the robot carry out the conventionality on the charging seat and charge, perhaps selects a cloth accuse position to deploy defence, avoids the robot to move back and forth between a plurality of cloth accuse positions and influences the user and have a rest.

If the user does not mark the intelligent equipment of each room, the safety level of each room cannot be known, when the robot enters the away-from-home mode deployment state, one deployment and control point location can be randomly selected in each area of the room for deployment, and the deployment and control time of each deployment and control point location is (the time for which the electric quantity can support work)/the number of the areas; and when the rest mode, the robot carries out the security protection mode at the charging seat.

If the user marks the intelligent device of each room, the security level of each room can be obtained, if the user does not designate a corresponding deployment and control point location (that is, does not designate the priority of the deployment and control point location), one deployment and control point location can be randomly selected in each area for deployment, the deployment time of each point location is defaulted to allocate different deployment and control times according to the security level of the area, and the following setting can also be followed:

1. safety low region defense deployment time, safety middle region defense deployment time and safety high region defense deployment time;

2. all arming time < robot power allowed working time.

In the defense deployment stage, if the robot reaches the power shortage state, the robot can automatically return to the charging seat for charging, and after the robot is fully charged, the robot returns to the defense deployment point position, and continues to execute the defense deployment task until the user releases the defense deployment state.

The intelligent equipment control method provided by the embodiment of the invention is applied to a robot, wherein the robot comprises a plurality of distance sensors and can emit ranging light, the working mode of the robot is firstly obtained, when the robot is in a cleaning mode, a first measured distance between the robot and an obstacle, which is obtained by the detection of the distance sensors, is obtained, and the running path of the robot is controlled according to the first measured distance, so that the distance between the robot and the obstacle is larger than or equal to a preset value. When the robot is in a security mode, firstly, the point location of the control is determined, the robot is controlled to move to the point location of the control, then, a second measurement distance between the robot and the obstacle, which is obtained by detection of each distance sensor, is obtained, and finally, security information of the point location of the control is obtained according to the second measurement distance. According to the scheme provided by the embodiment of the invention, the distance measuring light is emitted by the distance sensor, and the distance between the robot and the obstacle is measured by the reflected light of the distance measuring light. The effective distance for distance measurement is large, and the stability of distance measurement work enables the distance sensor to become an event trigger through measuring the change of the distance value, and the working principle and the working device are stable and reliable. Meanwhile, according to the scheme of the embodiment of the invention, through the cooperation among the devices of the intelligent home system, the control point position and the control time period can be determined according to actual needs, different needs of users are met, and the intelligent home system can be linked with other intelligent home products to form more systematic protection, so that evidence obtaining and warning in events can be realized, and evidence checking after the events can be realized.

Fig. 12 is a schematic structural diagram of a robot according to an embodiment of the present invention, as shown in fig. 12, including a communication module 121, a processor 122, a cleaning module 123, a distance sensor 124, a vision module 125, and an alarm module 126, where:

the communication module 121 is configured to receive a configuration instruction including working mode information, where the configuration instruction is used to instruct the robot to be in a cleaning mode or a security mode;

the processor 122 is configured to obtain the working mode of the robot according to the configuration instruction;

the cleaning module 123 is configured to perform a cleaning operation when the robot is in a cleaning mode;

the distance sensor 124 is arranged on the body of the robot and used for detecting a first measurement distance between the robot and an obstacle when the robot is in a cleaning mode, so that the distance between the robot and the obstacle is larger than or equal to a preset value; when the robot is in a security mode and is located at a control point position, detecting a second measurement distance between the robot and an obstacle;

the vision module 125 is configured to obtain a monitoring image corresponding to a first direction when the second measurement distance is changed, where the first direction is a direction in which the second measurement distance is changed;

the warning module 126 is configured to perform a warning according to the warning information when the second measured distance changes.

The robot provided by the embodiment of the invention can be used for executing the method embodiment, the realization principle and the technical effect are similar, and the details are not repeated here.

Fig. 13 is a schematic structural diagram of an intelligent device control system according to an embodiment of the present invention, as shown in fig. 13, including a terminal 131 and a robot 132, where a plurality of distance sensors are disposed on a body of the robot 132, where:

the terminal 131 is configured to send a configuration instruction to the robot 132;

the robot 132 is configured to receive the configuration instruction sent by the terminal 131, and according to the configuration instruction:

when the robot is in the cleaning mode, acquiring a first measurement distance between the robot and an obstacle, which is detected by the distance sensor; controlling a travel path of the robot 133 according to the first measured distance such that a distance between the robot 133 and the obstacle is greater than or equal to a preset value;

when the robot is in the security mode, determining a point location to be controlled, and controlling the robot 133 to move to the point location to be controlled; acquiring a second measurement distance between the robot and the obstacle, which is detected by each distance sensor; and acquiring security protection information of the point location according to the second measurement distance.

In the embodiment of the present invention, the terminal 131 may be a single terminal device, for example, a mobile phone, and directly send the configuration instruction to the robot 132 through the mobile phone, so as to control the robot 132 to perform a corresponding operation. Further, the terminal 131 may also be a plurality of terminal devices, for example, including a client and a mobile phone, where the client is connected to the mobile phone and the robot 132 as a background, and when the user needs to control the robot 132, the client may send a corresponding instruction or request to the client through the mobile phone, and then send a configuration instruction to the robot 132 through the client to control the robot 132 to perform a corresponding operation, and so on.

Fig. 14 is a schematic diagram of a hardware structure of an intelligent device control device according to an embodiment of the present invention, and as shown in fig. 14, the intelligent device control device includes: at least one processor 141 and a memory 142. The processor 141 and the memory 142 are connected by a bus 143.

Optionally, the model determination further comprises a communication component. For example, the communication component may include a receiver and/or a transmitter.

In a specific implementation, the at least one processor 141 executes computer-executable instructions stored by the memory 142, so that the at least one processor 141 performs the intelligent device control method as described above.

For a specific implementation process of the processor 141, reference may be made to the above method embodiments, which implement similar principles and technical effects, and this embodiment is not described herein again.

In the embodiment shown in fig. 14, it should be understood that the Processor may be a Central Processing Unit (CPU), other general-purpose processors, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

The memory may comprise high speed RAM memory and may also include non-volatile storage NVM, such as at least one disk memory.

The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.

The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored, and when a processor executes the computer-executable instructions, the method for controlling the smart device as described above is implemented.

The computer-readable storage medium may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk. Readable storage media can be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary readable storage medium is coupled to the processor such the processor can read information from, and write information to, the readable storage medium. Of course, the readable storage medium may also be an integral part of the processor. The processor and the readable storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the readable storage medium may also reside as discrete components in the apparatus.

The division of the units is only a logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent device control method is applied to a robot, the robot comprises a plurality of distance sensors, and the distance sensors are all located on a body of the robot, and the method comprises the following steps:

2. The method of claim 1, wherein the robot further comprises a vision module located on a body of the robot; the acquiring security protection information of the point location according to the second measurement distance includes:

and sending a monitoring instruction to the visual module, so that the visual module acquires a monitoring image corresponding to the first direction according to the monitoring instruction, wherein the security information comprises the monitoring image.

3. The method according to any one of claims 1, wherein the robot further comprises an alarm module, and after the acquiring of the security information of the point location according to the second measured distance, the method further comprises:

and when the second measurement distance changes, sending alarm information to the alarm module so that the alarm module gives an alarm after receiving the alarm information.

4. The method of any of claim 1, wherein the robot further comprises a gyroscope located on a body of the robot, the method further comprising, while the robot is in the cleaning mode:

5. The method of claim 1, wherein the determining a deployment site and controlling the robot to move to the deployment site comprises:

or,

6. The method according to claim 5, wherein the obtaining the priority of each security position and determining the point deployment and control location according to the priorities of the plurality of security positions comprises:

acquiring position information of a plurality of monitoring devices;

7. The method of any of claims 1-6, wherein the distance sensor comprises a time of flight (TOF) device, wherein:

8. The method of any of claims 1-6, wherein the distance sensor comprises an infrared laser device and a clock device, wherein:

9. The robot is characterized by comprising a communication module, a processor, a cleaning module, a distance sensor, a vision module and an alarm module, wherein:

10. The utility model provides an intelligent equipment control system which characterized in that, includes terminal and robot, be provided with a plurality of distance sensor on the fuselage of robot, wherein:

the terminal is used for sending a configuration instruction to the robot;

11. An intelligent device control apparatus, comprising: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the smart device control method of any of claims 1-8.

12. A computer-readable storage medium having computer-executable instructions stored therein, which when executed by a processor, implement the smart device control method of any one of claims 1 to 8.